低成本六维力传感器可精准捕捉手术训练中的操作力，适合教学使用。
A Feasibility Study of a Soft, Low-Cost, 6-Axis Load Cell for Haptics
- 用磁铁+霍尔传感器测硅胶层形变，实现六维力感知。
- 精度达0.45N（力）和0.014Nm（力矩），量程符合腹腔镜训练需求。
- 成本远低于现有设备，适合推广至医学生训练系统。
触觉设备在补充外科训练中价值显著，尤其能基于用户施加的力矩提供反馈。然而，当前六维力/力矩传感器价格过高。本文设计并校准了一种专用于腹腔镜触觉训练的低成本六维力/力矩传感器。该设计利用霍尔效应传感器测量嵌入硅胶层中的磁铁位置变化，以反映施加的力。初步实验验证表明，该传感器可达到0.45 N的力精度和0.014 Nm的力矩精度，理论量程为：XY方向±50 N，Z方向±20 N，力矩±0.2 Nm。研究显示，该低成本六维传感器能准确测量用户施加的力，并在触觉训练中提供有效反馈。
原文摘要 · Abstract (English)
Haptic devices have shown to be valuable in supplementing surgical training, especially when providing haptic feedback based on user performance metrics such as wrench applied by the user on the tool. However, current 6-axis force/torque sensors are prohibitively expensive. This paper presents the design and calibration of a low-cost, six-axis force/torque sensor specially designed for laparoscopic haptic training applications. The proposed design uses Hall-effect sensors to measure the change in the position of magnets embedded in a silicone layer that results from an applied wrench to the device. Preliminary experimental validation demonstrates that these sensors can achieve an accuracy of 0.45 N and 0.014 Nm, and a theoretical XY range of +/-50N, Z range of +/-20N, and torque range of +/-0.2Nm. This study indicates that the proposed low-cost 6-axis force/torque sensor can accurately measure user force and provide useful feedback during laparoscopic training on a haptic device.
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